Although there is a huge amount of literature on this topic, I’ll only mention a little known 1939 book that deserves to be better known. Because it seems no one thus far has said much of anything about this book online (3 decades of numerous internet math discussion groups, amazon reviews, etc.), at least as far as I know, I'll try to remedy this with my answer.
Sophie Piccard (1904−1990), Sur les Ensembles de Distances des Ensembles de Points d’un Espace Euclidean [On Sets of Distances for Subsets of Euclidean Space], Mémoires de l Université Neuchâtel #13, Secrétariat de l’Université, Neuchâtel, 1939, 212 pages. MR 2,129d; Zbl 23.01802; JFM 65.1170.03
This book studies distance sets for a pair of subsets $A,\,B$ of ${\mathbb R}^n$ using the notation $D(A;B) = \{x \in \mathbb R:\; \text{there exist} \; a \in A \; \text{and} \; b \in B \; \text{such that} \; x = \|a – b \| \}.$ Chapter 1: Distance sets for isolated, open, closed, scattered, $F_{\sigma},$ $G_{\delta},$ etc. sets are studied with respect to cardinality, Lebesgue measurability, Borel class, etc. Both the well-known result of Steinhaus and Piccard’s Baire category analog (the MR review omits the needed Baire property hypothesis) are proved in Chapter 1. Chapter 2: Results involving the property of a set being congruent with its complement. Chapter 3: Results involving perfect sets, especially in relation to their definition in terms of $n$-ary expansions. Chapter 4: Results involving conditions on a set in order that it will be a distance set for some sets $A$ and $B$ (or a distance set for some set $A=B).$
Reviewed by: Henri Léon Lebesgue (1875−1941), L’Enseignement Mathématique (1) 38 (1939−1940), pp. 361−362 (in French); John Todd (1911−2007), Mathematical Gazette 24 #261 (October 1940), p. 302; Frederick Arthur Ficken (1910−1978), Bulletin of the American Mathematical Society 49 #1 (January 1943), pp. 29−31. The lengthy Mathematical Reivews (MR) review states many of the results proved in this book, and is freely available at the Internet Archive -- 2 #4 (April 1941), pp. 129−130.